66 lines
2.4 KiB
C++
66 lines
2.4 KiB
C++
/** \file sr_bv_nbody.h
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* multibody AABB seep and prune */
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# ifndef SR_BV_NBODY_H
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# define SR_BV_NBODY_H
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# include "sr_bv_math.h"
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# include "sr_bv_id_pairs.h"
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class SrModel;
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class SrMat;
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/*! Maintains a set of three linked lists and keeps updating them using the
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sweep and prune algorithm. At any point in execution, the class maintains
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a set of pairs of objects whose AABBs overlap. In general, this set would
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be very small compared to the n(n-1)/2 possible pairs.
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Adapted from the VCollide package. Their copyright is in the source file. */
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class SrBvNBody
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{ private:
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struct AABB;
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struct EndPoint;
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EndPoint *_elist[3]; //Pointers to the three linked lists, one per axis
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SrArray<AABB*> _aabb; //Element "i" points to the AABB of the object with id=i. If
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// this object doesn't exist, then the pointer is NULL.
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public:
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/*! at any instance during execution, overlapping_pairs contains the set
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of pairs of ids whose AABBs overlap. */
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SrBvIdPairs overlapping_pairs;
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public:
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/*! Constructor */
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SrBvNBody();
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/*! Destructor (calls init()) */
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~SrBvNBody();
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/*! Clears everything */
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void init ();
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/*! Add an object with the given id to the NBody data structure.
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If the id already exists, nothing is done and false is returned.
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Otherwise, the object is added and true is returned.
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Note: to change a model associated to an existing id, delete_object()
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must be called prior to add_object() */
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bool insert_object ( int id, const SrModel& m );
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/*! Update position and orientation of the associated object, and
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the 3 per-axis linked lists maintaining the ordered AABB endpoints.
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False is returned if the id is invalid; true is returned otherwise. */
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bool update_transformation ( int id, const SrMat& m );
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/*! Delete the object from the data structure. Returns true if the
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object could be deleted, and false otherwise. False may only
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occur if the id is invalid or represents an already deleted object */
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bool remove_object ( int id );
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private:
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void _list_insert ( int coord, EndPoint* newpt );
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void _add_pair(int id1, int id2)
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{ if (id1 != id2) overlapping_pairs.add_pair(id1, id2); }
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void _del_pair(int id1, int id2)
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{ if (id1 != id2) overlapping_pairs.del_pair(id1, id2); }
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};
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#endif // SR_BV_NBODY_H
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